A de-palletizing handling device

Abstract

The application discloses a kind of unstacking and carrying device, can realize high-precision automatic positioning adjustment and meet the needs of a variety of products unstacking online;Combining vision and laser sensor and other means, realize workpiece position, height judgment, avoid unstacking and carrying process workpiece damage.At the same time, it can reduce physical labor, meet 24 hours long time continuous operation.In addition, unstacking and carrying positioning precision is high, can meet the precision requirement of higher feeding device.

Description

Technical Field

[0001] This invention relates to the field of handling equipment technology, and in particular to a destacking and handling device that can effectively reduce quality damage during product handling and has high working efficiency. Background Technology

[0002] A clamp is a gripping device that can be installed on handling equipment such as industrial robots and gantry manipulators. It enables the unstacking, handling, and loading of stacked workpieces such as TV back panels, computer back covers, and sheet metal stamping parts onto the production line. A schematic diagram of a workpiece stack is shown below. Figure 3 As shown. Includes workpiece tray 9, positioning block 10, and workpiece 11.

[0003] However, since components such as TV back panels, computer back covers, and sheet metal stampings have already been processed and neatly stacked by suppliers before being sent to the assembly line, they are ready to be unstacked and put onto the line. These components have uneven surfaces and have already undergone powder coating or painting. Directly stacking them can easily cause paint damage, stud breakage, and deformation during handling. Therefore, positioning blocks are needed to separate the upper and lower layers of components during stacking. The complex stacking requirements make automated unstacking difficult, so the unstacking of these components is primarily done manually. If the components are large, two people are needed to handle them, resulting in significant labor costs.

[0004] Currently, semi-automatic fixtures are available for destacking such workpieces. These fixtures can be mounted on industrial robots or gantry robots for destacking and handling operations. The workpiece stack is manually positioned accurately, and multiple circular suction cups are used to pick up the workpieces. A pneumatic gripper then grasps the positioning blocks to complete the destacking process. If the workpiece size deviates significantly after a change in workpiece shape, the gripping cylinder position must be manually adjusted. Forgetting to adjust the gripping cylinder position can easily damage the workpiece or the fixture.

[0005] Meanwhile, existing fixtures cannot automatically adjust the position of the positioning block gripping cylinder and the suction cup adsorption position when the workpiece changes shape (workpiece size changes, concave and convex positions change); the position of the workpiece and positioning block cannot be determined, requiring manual precise positioning of the workpiece stack; if the workpiece stack tilts during handling, the workpiece offset distance cannot be determined, and the fixture's descent gripping action can easily cause workpiece damage. In addition, the height of the workpiece stack cannot be determined. If the workpiece stack provided by the supplier is missing or has extra parts, running according to the original procedure will result in the fixture grabbing empty or the fixture descending too far, causing workpiece damage; most use circular vacuum suction cups, and if the workpiece surface has protrusions or grooves at the suction point of the circular vacuum suction cup, it will cause unstable workpiece adsorption or a decrease in vacuum, which can easily cause the workpiece to fall and be damaged in severe cases. Summary of the Invention

[0006] In view of the above problems, the present invention provides a destacking and handling device to overcome or at least partially solve the above problems. It solves the problems of traditional clamps being unable to automatically adjust the position of the positioning block gripping cylinder and the suction cup adsorption position.

[0007] This invention provides the following solution:

[0008] A destacking and handling device, comprising:

[0009] frame;

[0010] X-axis linear module, which is connected to the frame;

[0011] A pair of Y-axis linear modules, each of which is connected to the X-axis linear module; at least two positioning block gripping mechanisms are connected to each Y-axis linear module; the positioning block gripping mechanisms are used to grip positioning blocks.

[0012] A vision system, which is connected to the frame;

[0013] A suction cup assembly, wherein the suction cup assembly is connected to the frame;

[0014] The X-axis linear module drives a pair of Y-axis linear modules to move along the X-axis to adjust the distance between the positioning block gripping mechanisms on different Y-axis linear modules; the Y-axis linear module adjusts the distance between the positioning block gripping mechanisms located on the same Y-axis linear module; the vision system identifies the workpiece position and the positioning block position and determines whether the workpiece model is correct, so that the X-axis linear module and / or the Y-axis linear module adjust the position of the positioning block gripping mechanism according to the positioning block position; the suction cup assembly is used to adsorb the workpiece for transport after the positioning block is gripped.

[0015] Preferably, the device further includes a distance sensor connected to the frame; the distance sensor is used to obtain the distance between the device and the workpiece.

[0016] Preferably, the ranging sensor includes a laser ranging sensor.

[0017] Preferably, both the X-axis linear module and the Y-axis linear module include linear modules that move in opposite directions.

[0018] Preferably, the positioning block gripping mechanism includes a lifting cylinder, a gripper cylinder, and a clamping cylinder.

[0019] Preferably, the vision system includes a camera, a lens, and a light source; the camera and the lens are used to capture workpiece feature points at the target location, and the light source is used to stabilize the ambient light during the capture.

[0020] Preferably, the suction cup assembly includes a vacuum sponge suction cup.

[0021] Preferably, the mechanical parts included in the frame, the X-axis linear module, the Y-axis linear module, the vision system, and the suction cup assembly are all made of aluminum.

[0022] Preferably, the top of the frame is provided with a connecting flange, which is used to connect to the robot.

[0023] Preferably, the connecting flange is made of carbon steel.

[0024] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0025] This application provides a depalletizing and handling device that can achieve high-precision automatic positioning and adjustment of the gripping mechanism to meet the depalletizing and loading requirements of various products. By combining vision and laser sensors, it can determine the position and height of workpieces, preventing damage during depalletizing and handling. Simultaneously, it reduces manual labor and can operate continuously for 24 hours. Furthermore, its high positioning accuracy allows it to meet the requirements of high-precision loading devices.

[0026] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of a destacking and handling device provided in an embodiment of the present invention;

[0029] Figure 2 This is a structural schematic diagram of a destacking and handling device in use according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the stack of workpieces.

[0031] In the diagram: Frame 1, X-axis linear module 2, Y-axis linear module 3, positioning block gripping mechanism 4, vision system 5, suction cup assembly 6, solenoid valve assembly 7, connecting flange 8, workpiece tray 9, positioning block 10, workpiece 11. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0033] See Figure 1 , Figure 2 This invention provides a destacking and handling device, such as... Figure 1 , Figure 2 As shown, the device may include:

[0034] Framework 1;

[0035] X-axis linear module 2, which is connected to the frame 1;

[0036] A pair of Y-axis linear modules 3, each of which is connected to the X-axis linear module 2; at least two positioning block gripping mechanisms 4 are connected to the Y-axis linear module 3; the positioning block gripping mechanism 4 is used to grip the positioning block 10.

[0037] Vision system 5, which is connected to the frame 1;

[0038] Suction cup assembly 6, which is connected to the frame 1;

[0039] The X-axis linear module 2 drives a pair of Y-axis linear modules 3 to move along the X-axis to adjust the distance between the positioning block gripping mechanisms 4 on different Y-axis linear modules 3; the Y-axis linear module 3 adjusts the distance between the positioning block gripping mechanisms 4 located on the same Y-axis linear module 3; the vision system 5 identifies the workpiece position and the positioning block position and determines whether the workpiece model is correct, so that the X-axis linear module 2 and / or the Y-axis linear module 3 adjust the position of the positioning block gripping mechanism 4 according to the position of the positioning block; the suction cup assembly 6 is used to adsorb the workpiece 11 for transport after the positioning block is gripped.

[0040] The destacking and handling device provided in this application has a modular and compact overall structure, integrating a vision system 5, linear modules, various types of cylinders, vacuum suction cups, and other components. The vision system 5 can identify the workpiece position and the position of the positioning blocks. Based on the position of the positioning blocks, the controller can determine the required position of each positioning block gripping mechanism 4. The controller can control the movement of the X-axis linear module 2 and the Y-axis linear module 3, adjusting each positioning block gripping mechanism 4 to its corresponding position. This ensures that each positioning block gripping mechanism 4 corresponds one-to-one with each positioning block, thereby guaranteeing gripping accuracy. This method effectively reduces the requirements for workpiece stack positioning accuracy, achieving adaptive adjustment.

[0041] Meanwhile, the vision system 5 identifies the workpiece and has a certain error-proof function; it can issue an alarm when an incorrect product type is detected. It meets the requirements of flexible manufacturing and can adapt to the destacking and handling of products of various sizes. A linear module is used to adjust the positioning block gripping mechanism 4, ensuring fast adjustment speed and stable operation. When used with the suction cup assembly 6, it can adsorb the workpiece after the positioning block is gripped, transferring the workpiece to the corresponding position.

[0042] To ensure that the device will not damage the workpiece due to being too close to it during use, this embodiment of the application may also provide a distance measuring sensor, which is connected to the frame 1; the distance measuring sensor is used to obtain the distance between the device and the workpiece.

[0043] To further improve ranging accuracy, embodiments of this application may also provide a ranging sensor including a laser ranging sensor. The device equipped with a ranging sensor can determine the height of the workpiece stack, ensuring that the workpiece is not crushed when the device descends to grasp it.

[0044] To improve the adjustment range of the linear module provided in this application embodiment, this application embodiment may also provide that both the X-axis linear module 2 and the Y-axis linear module 3 include synchronously moving and reversely moving linear modules. Using synchronously moving and reversely moving linear modules to achieve gripping position adjustment, compared to using a common single-slider linear module, can achieve a larger stroke adjustment range, while ensuring a symmetrical fixture design and overall aesthetic harmony.

[0045] The positioning block gripping mechanism 4 provided in this application embodiment is used to grip positioning blocks. Specifically, the positioning block gripping mechanism 4 provided in this application embodiment includes a lifting cylinder, a gripper cylinder, and a clamping cylinder.

[0046] Furthermore, the vision system 5 includes a camera, a lens, and a light source; the camera and the lens are used to capture workpiece feature points at the target location, and the light source is used to achieve ambient light stabilization during the capture.

[0047] To prevent the suction cup assembly 6 from damaging the workpiece surface, embodiments of this application may provide that the suction cup assembly 6 includes a vacuum sponge suction cup.

[0048] In order to reduce the overall weight of the device while ensuring strength requirements, the embodiments of this application may provide that the machined parts of the frame 1, the X-axis linear module 2, the Y-axis linear module 3, the vision system 5, and the suction cup assembly 6 are all made of aluminum.

[0049] It is understood that the device provided in this application embodiment can be connected to a robot during use, and the robot can drive the entire device to move. To facilitate connection with a robot, this application embodiment may also provide a connecting flange 8 on the top of the frame 1, which is used to connect to the robot. Furthermore, the connecting flange 8 is made of carbon steel.

[0050] The structure of the apparatus provided in the embodiments of this application and the method of using it will be described in detail below.

[0051] The device can be composed of a clamp frame 1, an X-axis linear module 2, a Y-axis linear module 3, a vision system 5, a positioning block gripping mechanism 4, a suction cup assembly 6, a laser rangefinder sensor, and a solenoid valve assembly 7.

[0052] Frame 1 connects the robot, linear modules, and other components, facilitating the formation of a reliable integrated handling tool. The robot connecting flange 8, requiring reliable welding performance, is made of carbon steel, while all other machined parts are made of high-quality aluminum, ensuring the fixture meets lightweight requirements and reduces energy consumption when using robots with high load capacities or those with similar load capacities. The X-axis linear module 2 employs a high-load, synchronously moving, reverse-moving module, driven by a servo motor rotating left-hand and right-hand lead screws to rotate two module sliders. This allows the two sliders to move simultaneously and symmetrically towards the center or sides at the same speed, achieving high transmission accuracy. The two sliders of the X-axis linear module 2 respectively drive two Y-axis linear modules 3 to move along the X-axis. To ensure balanced force and load distribution, linear guides connect the other point of the Y-axis linear modules 3. The Y-axis linear module 3 is used to adjust the position of the outer positioning block gripping mechanism 4. It employs a smaller load and a longer distance synchronously moving, reverse-moving linear module, with a working principle similar to the X-axis linear module 2, which will not be elaborated here.

[0053] The vision system 5 consists of a camera, lens, and light source. The camera and lens combination can capture workpiece feature points from a certain distance, and the light source ensures stable ambient light during shooting. The vision system 5 is used to identify the position of the workpiece and the position of the positioning blocks, and can also determine whether the workpiece model is correct. The positioning block gripping mechanism 4 consists of a lifting cylinder, a gripping cylinder, a pressing cylinder, and fixing parts, and is mainly used to grip the workpiece positioning blocks. The gripping mechanism is set to four or six depending on the number of workpiece positioning blocks, and is used to grip the positioning blocks at the four corners or the middle position of the workpiece. The suction cup assembly 6 relies on vacuum sponge to adsorb the workpiece, ensuring stable adsorption and handling of the workpiece without damaging the outer surface of the workpiece. The number or area of ​​the sponge suction cups can be adjusted according to the size and weight of the workpiece.

[0054] When the device is in use, after the workpiece stack is manually or by AGV to the destacking station, the device is driven by a robot to move above the destacking station. A laser rangefinder sensor determines whether the distance between the device and the workpiece is correct, and the vision system 5 identifies the position of the workpiece and the positioning block and feeds it back to the control system. The robot adjusts the position of the device based on the position information fed back by the vision system 5 to facilitate the alignment of the device and the positioning block. After the adjustment is completed, the device descends to the positioning block gripping position, the gripping mechanism's lifting cylinder descends, the gripper cylinder clamps the positioning block, and the pressing cylinder presses the workpiece down to prevent it from being pulled away when the cylinder grips the positioning block. At this time, the lifting cylinder rises to grip the entire positioning block. The entire device descends again until the suction cup contacts the workpiece, the suction cup adsorbs the workpiece, and the vacuum detection is in place. The device then transports the workpiece to the loading position and finally drops all the positioning blocks into the collection container.

[0055] This device can reduce manual labor, lower labor costs, and enhance the company's image; it avoids damage to workpieces during manual handling; the device is equipped with a vision system to locate the workstation position, so precise positioning is not required when placing stacks, which can reduce the requirements for stack handling and positioning; the device is equipped with a laser rangefinder sensor to locate the height of the workpiece stack, ensuring that the workpiece will not be crushed when the fixture descends to grab the workpiece; when changing products, the program can be switched with one click, and the servo motor can be controlled to adjust the position of the positioning block gripping cylinder; it solves the problems of manual position adjustment and low position adjustment accuracy.

[0056] In summary, the depalletizing and handling device provided in this application can achieve high-precision automatic positioning and adjustment of the gripping mechanism to meet the depalletizing and loading requirements of various products. Combined with vision and laser sensors, it can determine the position and height of workpieces, preventing damage during depalletizing and handling. Simultaneously, it reduces manual labor and can operate continuously for 24 hours a day. Furthermore, its high positioning accuracy during depalletizing and handling meets the requirements of high-precision loading devices.

[0057] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0058] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0059] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A destacking and handling device, characterized in that, include: frame; X-axis linear module, which is connected to the frame; A pair of Y-axis linear modules, each of which is connected to the X-axis linear module; at least two positioning block gripping mechanisms are connected to each Y-axis linear module; the positioning block gripping mechanisms are used to grip positioning blocks. A vision system, which is connected to the frame; A suction cup assembly, wherein the suction cup assembly is connected to the frame; A distance measuring sensor is connected to the frame; the distance measuring sensor is used to obtain the distance between the device and the workpiece. The X-axis linear module and the Y-axis linear module both include linear modules that move in opposite directions; the positioning block gripping mechanism includes a lifting cylinder, a gripper cylinder, and a clamping cylinder. The X-axis linear module drives a pair of Y-axis linear modules to move along the X-axis to adjust the distance between the positioning block gripping mechanisms on different Y-axis linear modules; the Y-axis linear module adjusts the distance between the positioning block gripping mechanisms located on the same Y-axis linear module; the vision system identifies the workpiece position and the positioning block position and determines whether the workpiece model is correct, so that the X-axis linear module and / or the Y-axis linear module adjust the position of the positioning block gripping mechanism according to the positioning block position; the suction cup assembly is used to adsorb the workpiece for transport after the positioning block is gripped.

2. The destacking and handling device according to claim 1, characterized in that, The ranging sensor includes a laser ranging sensor.

3. The destacking and handling device according to claim 1, characterized in that, The vision system includes a camera, a lens, and a light source; the camera and the lens are used to capture workpiece feature points at a target location, and the light source is used to stabilize the ambient light during the capture.

4. The destacking and handling device according to claim 1, characterized in that, The suction cup assembly includes a vacuum sponge suction cup.

5. The destacking and handling device according to claim 1, characterized in that, The mechanical parts contained in the frame, the X-axis linear module, the Y-axis linear module, the vision system, and the suction cup assembly are all made of aluminum.

6. The destacking and handling device according to claim 1, characterized in that, The top of the frame is provided with a connecting flange, which is used to connect to the robot.

7. The destacking and handling device according to claim 6, characterized in that, The connecting flange is made of carbon steel.

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